I practiced something called the Power Stroke for drawing lines. The idea is that you always draw towards 2 o'clock, turning your medium as needed. In order to try this, I drew some Cliques. You can even tell where I typically started from, since I accidentally overran the destination point.

I also tried to draw some bubbles by making a connected "skeleton" of lines and then using the vertices as the center of the circles. The benefit of this is that you can see approximately the radius of the new circle by looking at the length of the line between the two points. Additionally, I "ghosted" the circle by moving my hand in the shape of the circle without putting down my pen, to see what the final circle would look like. Some thoughts, difficulties, and things to try:

Drawing a line fast makes it straighter, but leads to overrun.

Its probably easier to learn to stop a line sooner, than it is to use a steadier hand.

Drawing became much steadier when I used my whole forearm, rather than just my hand.

I have the least control of my pen when the tip is closest to my palm.

Clockwise circles (at least for me) resulted in smoother and less oblong curves.